//setting 1
        assert(BMState != 0);
        BMState->preFilterSize=41;
        BMState->preFilterCap=31;
        BMState->SADWindowSize=41;
        BMState->minDisparity=-64;
        BMState->numberOfDisparities=128;
        BMState->textureThreshold=10;
        BMState->uniquenessRatio=15;
//setting 2
		assert(BMState != 0);
        BMState->preFilterSize=13;
        BMState->preFilterCap=13;
        BMState->SADWindowSize=13;
        BMState->minDisparity=-16;
        BMState->numberOfDisparities=64;
        BMState->textureThreshold=10;
        BMState->uniquenessRatio=15;